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Changing the operating range
3Installing the option devices
(4) Setting the mechanical stopper origin parameter
If the movement range of either the minus (-) side of the J1 axis or the plus (+) side of the J2 axis has been
changed, change the mechanical stopper origin parameter MORG.
1) Change the parameter MORG to the angle of the mechanical stopper position that has been set.
MORG: (J1 side mechanical stopper position, J2 side mechanical stopper position, ........)
(5) Confirming the operation range
When completed changing the parameters, turn the controller power OFF and ON. Move the changed axis to the
operation range limit with joint jog operation, and confirm that the limit over occurs and the robot stops at the
angle changed for both the +/- side.
This completes the changing the operating range.
